Čtvernohý robot s vnitřní diagnostikou

Abstract

The goal of this thesis is to design a quadruped robot inspired by bioorganisms and equip it with internal sensors. The thesis deals with mechanical design of the robot, where the majority of parts is designed for 3D printing. The thesis also deals with hardware specifications. An additional PCB has been manufactured to expand the capabilities of the used microcontroller. The sensory subsystem consists of foothold detection, current and voltage measurements and orientation detection using an IMU. The thesis describes development of the software for PC and the robot, used code structure and algorithms. The robot communicates using a custom serial protocol. Movement generation, inverse kinematics, center of gravity position and collision detection are all being calculated onboard the robot. A simulation model has been built in V-Rep, on which the used algorithms were tested.